CN215471141U - Multi-joint stacking robot - Google Patents
Multi-joint stacking robot Download PDFInfo
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- CN215471141U CN215471141U CN202023292586.3U CN202023292586U CN215471141U CN 215471141 U CN215471141 U CN 215471141U CN 202023292586 U CN202023292586 U CN 202023292586U CN 215471141 U CN215471141 U CN 215471141U
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- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
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- 230000004075 alteration Effects 0.000 description 1
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Abstract
The utility model discloses a multi-joint palletizing robot, which comprises a base, wherein a control box is fixedly arranged at the upper end of the base, a first rotating control box is fixedly arranged at the upper end of the control box, a first pitching control box is fixedly arranged at the upper end of the first rotating control box, a second rotating control box is fixedly arranged at the upper end of the first pitching control box, a second pitching control box is fixedly arranged at the upper end of the second rotating control box, a palletizing paw is fixedly arranged at the upper end of the second pitching control box, rotating motors are fixedly arranged at the lower ends of the inner parts of the first rotating control box and the second rotating control box, a rotating shaft is fixedly connected at the upper end of each rotating motor, and a rotating connecting flange is fixedly connected at the upper end of each rotating shaft, greatly reducing the production cost.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-joint stacking robot.
Background
The use of the palletizing robot can improve the productivity and the automation degree of the system, reduce the labor intensity of workers, improve the accuracy of a storage system, and increase the safety of the system when applied to industries such as finance and the like.
The palletizing robot has been developed through years of research, and the flexibility, adaptability, speed and grabbing capacity of the palletizing robot are continuously improved. However, most of the existing palletizing robots are articulated robots, arms of the existing palletizing robots mostly adopt various link mechanisms, each section of the arm can only rotate around an articulated kinematic pair of the arm, and the power of a driving motor is transmitted to the robot end effector through connecting rods at all levels, so that the motion control nonlinearity of the robot end effector is caused, and the position control algorithm is very complex. Particularly, the stacking machine is used for occasions with more stacking position changes and faster change frequency, brings huge workload for position control calculation, and is not beneficial to high-speed stacking or unstacking.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a multi-joint palletizing robot to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme: the automatic stacking machine comprises a base, wherein a control box is fixedly mounted at the upper end of the base, a first rotating control box is fixedly mounted at the upper end of the control box, a first pitching control box is fixedly mounted at the upper end of the first rotating control box, a second rotating control box is fixedly mounted at the upper end of the first pitching control box, a second pitching control box is fixedly mounted at the upper end of the second rotating control box, a stacking claw is fixedly mounted at the upper end of the second pitching control box, rotating motors are fixedly mounted at the lower ends of the interiors of the first rotating control box and the second rotating control box, a rotating shaft is fixedly connected at the upper end of each rotating motor, a rotating connecting flange is fixedly connected at the upper end of each rotating shaft, a driving motor is arranged at the lower end of the interiors of the first pitching control box and the second pitching control box, a driving shaft is fixedly connected at an output shaft of the driving motor, and supporting bearings are arranged on two sides of the driving shaft, the utility model discloses a driving shaft, including drive shaft, driving wheel one end fixedly connected with drive wheel, the driving wheel surface is equipped with synchronous belt, the inside follow driving wheel that is equipped with of synchronous belt one end, follow driving wheel one side fixedly connected with every single move pivot, every single move pivot both ends all are equipped with the bearing, every single move pivot fixed surface is connected with every single move flange.
Furthermore, the first rotating control box, the first pitching control box, the second rotating control box and the second pitching control box are increased or decreased according to actual specific needs.
Furthermore, the first rotating control box, the first pitching control box, the second rotating control box and the second pitching control box are fixedly connected through a rotating connecting flange or a pitching connecting flange.
Further, the driving wheel and the driven wheel are in transmission connection through a synchronous belt.
Further, the drive shaft joint is inside support bearing, and can rotate, bearing fixed mounting is in the inside upper end both sides of first every single move control box and second every single move control box, every single move pivot joint is inside the bearing, and can rotate.
Furthermore, the controller inside the control box and the upper end of the first pitching control box are fixedly provided with a rotating motor inside the second rotating control box and electrically connected with a driving motor inside the first pitching control box and the second pitching control box.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the first rotating control box, the first pitching control box, the second rotating control box and the second pitching control box are arranged, and the rotating motor and the driving motor are arranged in the first rotating control box, so that the transmission stability is improved, the adjustment accuracy of the robot is ensured, the size of each part of the robot is reduced, the adaptability of the robot to a narrow working environment is further improved, the rotating control box and the pitching control box are increased or decreased according to needs, and the rotating control box and the pitching control box are fixedly connected through the rotating connecting flange or the pitching connecting flange, so that the adjustability of the robot is improved, the robot can be accurately adjusted to any working position in a working space, and the working accuracy of the robot is improved;
2. according to the utility model, the controller in the control box is electrically connected with the rotating motor in the rotating control box and the driving motor in the pitching control box, so that the robot can be better controlled, and the operation capacity of the robot to a narrow operation space is improved;
3. the stacking machine is simple in structure and novel in design, stacking efficiency is effectively improved, different tasks can be met by different assemblies due to the modular design, and production cost is greatly reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the rotary control box of the present invention;
fig. 3 is a schematic diagram of the internal structure of the pitch control box of the present invention.
In FIGS. 1-3: 1-a base; 2-a control box; 3-a first rotating control box; 4-a first pitch control box; 5-a second rotation control box; 6-a second pitch control box; 7-stacking paw; 8-a rotating electrical machine; 9-a rotating shaft; 10-a rotating connecting flange; 11-a drive motor; 12-a drive shaft; 13-a support bearing; 14-a drive wheel; 15-synchronous belt; 16-a driven wheel; 17-pitch rotation axis; 18-a bearing; 19-pitch attachment flange.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: the automatic stacking machine comprises a base 1, wherein a control box 2 is fixedly mounted at the upper end of the base 1, a first rotary control box 3 is fixedly mounted at the upper end of the control box 2, a first pitching control box 4 is fixedly mounted at the upper end of the first rotary control box 3, a second rotary control box 5 is fixedly mounted at the upper end of the first pitching control box 4, a second pitching control box 6 is fixedly mounted at the upper end of the second rotary control box 5, a stacking paw 7 is fixedly mounted at the upper end of the second pitching control box 6, a rotary motor 8 is fixedly mounted at the lower ends of the interiors of the first rotary control box 3 and the second rotary control box 5, a rotary shaft 9 is fixedly connected at the upper end of the rotary motor 8, a rotary connecting flange 10 is fixedly connected at the upper end of the rotary shaft 9, a driving motor 11 is arranged at the lower ends of the interiors of the first pitching control box 4 and the second pitching control box 6, and a driving shaft 12 is fixedly connected with an output shaft of the driving motor 11, drive shaft 12 both sides all are equipped with support bearing 13, drive shaft 12 one end fixedly connected with drive wheel 14, the drive wheel 14 surface is equipped with synchronous belt 15, the inside follow driving wheel 16 that is equipped with of synchronous belt 15 one end, follow 16 one side fixedly connected with every single move pivot 17 of driving wheel, every single move pivot 17 both ends all are equipped with bearing 18, 17 fixed surface connection in every single move pivot have every single move flange 19.
Further, the first rotation control box 3, the first pitch control box 4, the second rotation control box 5 and the second pitch control box 6 are increased or decreased according to actual specific needs.
Further, the first rotation control box 3, the first pitch control box 4, the second rotation control box 5 and the second pitch control box 6 are fixedly connected through a rotation connection flange 10 or a pitch connection flange 19.
Further, the driving pulley 14 and the driven pulley 16 are in transmission connection through a timing belt 15.
Further, the driving shaft 12 is connected to the inside of the supporting bearing 13 in a clamped manner and can rotate, the bearing 18 is fixedly installed on two sides of the upper end of the inside of the first pitching control box 4 and the inside of the second pitching control box 6, and the pitching rotating shaft 17 is connected to the inside of the bearing 18 in a clamped manner and can rotate.
Furthermore, the controller inside the control box 2 and the upper end of the first pitching control box 4 are fixedly provided with a rotating motor 8 inside the second rotating control box 5 and a driving motor 11 inside the first pitching control box 4 and the second pitching control box 6 which are electrically connected.
The working principle is as follows: when in use, the PLC chip inside the controller control on the surface of the control box 2 is electrically connected with the rotating motor 8 inside the first rotating control box 3 and the second rotating control box 5 and the driving motor 11 inside the first pitching control box 4 and the second pitching control box 6, so that the robot can be better controlled, the operation capability of the robot to a narrow operation space is improved, the adjustment accuracy of the robot is ensured, on the other hand, the volume of each part of the robot is reduced, the adaptability of the robot to a narrow working environment is further improved, and the first rotating control box 3, the first pitching control box 4, the second rotating control box 5 and the second pitching control box 6 are increased or decreased according to needs, and the first rotating control box 3, the first pitching control box 4, the second rotating control box 5 and the second pitching control box 6 are fixedly connected through the rotating connecting flange 10 or the pitching connecting flange 19, the adjustable performance of the robot is improved, the robot can move conveniently, the robot can be accurately adjusted to any working position in the working space, the working accuracy of the robot is improved, and the robot is convenient to stack in a small space.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a articulated pile up neatly machine people, includes base (1), its characterized in that: the automatic lifting device is characterized in that a control box (2) is fixedly mounted at the upper end of a base (1), a first rotary control box (3) is fixedly mounted at the upper end of the control box (2), a first pitching control box (4) is fixedly mounted at the upper end of the first rotary control box (3), a second rotary control box (5) is fixedly mounted at the upper end of the first pitching control box (4), a second pitching control box (6) is fixedly mounted at the upper end of the second rotary control box (5), a stacking claw (7) is fixedly mounted at the upper end of the second pitching control box (6), a rotary motor (8) is fixedly mounted at the lower end of the inner parts of the first rotary control box (3) and the second rotary control box (5), a rotary shaft (9) is fixedly connected at the upper end of the rotary motor (8), a rotary connecting flange (10) is fixedly connected at the upper end of the rotary shaft (9), and a driving motor (11) is arranged at the lower end of the inner parts of the first pitching control box (4) and the second pitching control box (6), driving motor (11) output shaft fixedly connected with drive shaft (12), drive shaft (12) both sides all are equipped with support bearing (13), drive shaft (12) one end fixedly connected with drive wheel (14), drive wheel (14) surface is equipped with synchronous belt (15), synchronous belt (15) one end is inside to be equipped with from driving wheel (16), from driving wheel (16) one side fixedly connected with every single move pivot (17), every single move pivot (17) both ends all are equipped with bearing (18), every single move pivot (17) fixed surface is connected with every single move flange (19).
2. A multi-joint palletizing robot as claimed in claim 1, characterized in that: the first rotating control box (3), the first pitching control box (4), the second rotating control box (5) and the second pitching control box (6) are increased or decreased according to actual specific needs.
3. A multi-joint palletizing robot as claimed in claim 1, characterized in that: the first rotating control box (3), the first pitching control box (4), the second rotating control box (5) and the second pitching control box (6) are fixedly connected through a rotating connecting flange (10) or a pitching connecting flange (19).
4. A multi-joint palletizing robot as claimed in claim 1, characterized in that: the driving wheel (14) and the driven wheel (16) are in transmission connection through a synchronous belt (15).
5. A multi-joint palletizing robot as claimed in claim 1, characterized in that: drive shaft (12) joint is inside support bearing (13), and can rotate, bearing (18) fixed mounting is in first every single move control box (4) and the inside upper end both sides of second every single move control box (6), every single move pivot (17) joint is inside bearing (18), and can rotate.
6. A multi-joint palletizing robot as claimed in claim 1, characterized in that: the controller in the control box (2) and the upper end of the first pitching control box (4) are fixedly provided with a rotating motor (8) in the second rotating control box (5) and electrically connected with a driving motor (11) in the first pitching control box (4) and the second pitching control box (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023292586.3U CN215471141U (en) | 2020-12-29 | 2020-12-29 | Multi-joint stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023292586.3U CN215471141U (en) | 2020-12-29 | 2020-12-29 | Multi-joint stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471141U true CN215471141U (en) | 2022-01-11 |
Family
ID=79718105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023292586.3U Expired - Fee Related CN215471141U (en) | 2020-12-29 | 2020-12-29 | Multi-joint stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215471141U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114216390A (en) * | 2022-02-23 | 2022-03-22 | 东莞市尔必地机器人有限公司 | Size measuring device for part detection of stacking robot |
-
2020
- 2020-12-29 CN CN202023292586.3U patent/CN215471141U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114216390A (en) * | 2022-02-23 | 2022-03-22 | 东莞市尔必地机器人有限公司 | Size measuring device for part detection of stacking robot |
| CN114216390B (en) * | 2022-02-23 | 2022-05-13 | 东莞市尔必地机器人有限公司 | Size measuring device for part detection of stacking robot |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220111 |